実演を活用した複雑組立動作のための動作計画
Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process
ARマーカーで人間の組立動作を計測し、そのキーポーズを実演として取り込むことで、ロボットが複雑で熟練を要する組立動作を計画・実行できる手法を開発した。
著者: Yan Wang, Kensuke Harada, Weiwei Wan
分類: cs.RO, cs.CV
原文アブストラクト
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize automatically. In order to deal with this problem, this paper develops a motion planning method using skillful motions from demonstration, which can be applied to complete robotic assembly process including complex and skillful motions. In order to demonstrate conveniently without redundant third-party devices, we attach augmented reality (AR) markers to the manipulated object to track and capture poses of the object during the human assembly process, which are employed as key poses to execute motion planning by the planner. Derivative of every key pose serves as criterion to determine the priority of use of key poses in order to accelerate the motion planning. The effectiveness of the presented method is verified through some numerical examples and actual robot experiments.
